Eric Williams
/
Lab3_Surveillance
Lab3_Surveillance
Camera_LS_Y201.cpp@0:2af1e48a285d, 2011-10-13 (annotated)
- Committer:
- gtg846r
- Date:
- Thu Oct 13 05:48:32 2011 +0000
- Revision:
- 0:2af1e48a285d
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gtg846r | 0:2af1e48a285d | 1 | /** |
gtg846r | 0:2af1e48a285d | 2 | * ============================================================================= |
gtg846r | 0:2af1e48a285d | 3 | * LS-Y201 device driver class (Version 0.0.1) |
gtg846r | 0:2af1e48a285d | 4 | * Reference documents: LinkSprite JPEG Color Camera Serial UART Interface |
gtg846r | 0:2af1e48a285d | 5 | * January 2010 |
gtg846r | 0:2af1e48a285d | 6 | * ============================================================================= |
gtg846r | 0:2af1e48a285d | 7 | * Copyright (c) 2010 Shinichiro Nakamura (CuBeatSystems) |
gtg846r | 0:2af1e48a285d | 8 | * |
gtg846r | 0:2af1e48a285d | 9 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
gtg846r | 0:2af1e48a285d | 10 | * of this software and associated documentation files (the "Software"), to deal |
gtg846r | 0:2af1e48a285d | 11 | * in the Software without restriction, including without limitation the rights |
gtg846r | 0:2af1e48a285d | 12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
gtg846r | 0:2af1e48a285d | 13 | * copies of the Software, and to permit persons to whom the Software is |
gtg846r | 0:2af1e48a285d | 14 | * furnished to do so, subject to the following conditions: |
gtg846r | 0:2af1e48a285d | 15 | * |
gtg846r | 0:2af1e48a285d | 16 | * The above copyright notice and this permission notice shall be included in |
gtg846r | 0:2af1e48a285d | 17 | * all copies or substantial portions of the Software. |
gtg846r | 0:2af1e48a285d | 18 | * |
gtg846r | 0:2af1e48a285d | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
gtg846r | 0:2af1e48a285d | 20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
gtg846r | 0:2af1e48a285d | 21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
gtg846r | 0:2af1e48a285d | 22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
gtg846r | 0:2af1e48a285d | 23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
gtg846r | 0:2af1e48a285d | 24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
gtg846r | 0:2af1e48a285d | 25 | * THE SOFTWARE. |
gtg846r | 0:2af1e48a285d | 26 | * ============================================================================= |
gtg846r | 0:2af1e48a285d | 27 | */ |
gtg846r | 0:2af1e48a285d | 28 | |
gtg846r | 0:2af1e48a285d | 29 | #include "Camera_LS_Y201.h" |
gtg846r | 0:2af1e48a285d | 30 | |
gtg846r | 0:2af1e48a285d | 31 | /** |
gtg846r | 0:2af1e48a285d | 32 | * Create. |
gtg846r | 0:2af1e48a285d | 33 | * |
gtg846r | 0:2af1e48a285d | 34 | * @param tx Transmitter. |
gtg846r | 0:2af1e48a285d | 35 | * @param rx Receiver. |
gtg846r | 0:2af1e48a285d | 36 | */ |
gtg846r | 0:2af1e48a285d | 37 | Camera_LS_Y201::Camera_LS_Y201(PinName tx, PinName rx) : serial(tx, rx) { |
gtg846r | 0:2af1e48a285d | 38 | serial.baud(38400); |
gtg846r | 0:2af1e48a285d | 39 | } |
gtg846r | 0:2af1e48a285d | 40 | |
gtg846r | 0:2af1e48a285d | 41 | /** |
gtg846r | 0:2af1e48a285d | 42 | * Dispose. |
gtg846r | 0:2af1e48a285d | 43 | */ |
gtg846r | 0:2af1e48a285d | 44 | Camera_LS_Y201::~Camera_LS_Y201() { |
gtg846r | 0:2af1e48a285d | 45 | } |
gtg846r | 0:2af1e48a285d | 46 | |
gtg846r | 0:2af1e48a285d | 47 | /** |
gtg846r | 0:2af1e48a285d | 48 | * Reset module. |
gtg846r | 0:2af1e48a285d | 49 | * |
gtg846r | 0:2af1e48a285d | 50 | * @return Error code. |
gtg846r | 0:2af1e48a285d | 51 | */ |
gtg846r | 0:2af1e48a285d | 52 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() { |
gtg846r | 0:2af1e48a285d | 53 | uint8_t send[4] = { |
gtg846r | 0:2af1e48a285d | 54 | 0x56, |
gtg846r | 0:2af1e48a285d | 55 | 0x00, |
gtg846r | 0:2af1e48a285d | 56 | 0x26, |
gtg846r | 0:2af1e48a285d | 57 | 0x00 |
gtg846r | 0:2af1e48a285d | 58 | }; |
gtg846r | 0:2af1e48a285d | 59 | uint8_t recv[4]; |
gtg846r | 0:2af1e48a285d | 60 | |
gtg846r | 0:2af1e48a285d | 61 | waitIdle(); |
gtg846r | 0:2af1e48a285d | 62 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 63 | return SendError; |
gtg846r | 0:2af1e48a285d | 64 | } |
gtg846r | 0:2af1e48a285d | 65 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 66 | return RecvError; |
gtg846r | 0:2af1e48a285d | 67 | } |
gtg846r | 0:2af1e48a285d | 68 | if ((recv[0] == 0x76) |
gtg846r | 0:2af1e48a285d | 69 | && (recv[1] == 0x00) |
gtg846r | 0:2af1e48a285d | 70 | && (recv[2] == 0x26) |
gtg846r | 0:2af1e48a285d | 71 | && (recv[3] == 0x00)) { |
gtg846r | 0:2af1e48a285d | 72 | ErrorCode r = waitInitEnd(); |
gtg846r | 0:2af1e48a285d | 73 | if (r != NoError) { |
gtg846r | 0:2af1e48a285d | 74 | return r; |
gtg846r | 0:2af1e48a285d | 75 | } |
gtg846r | 0:2af1e48a285d | 76 | wait(4); |
gtg846r | 0:2af1e48a285d | 77 | return NoError; |
gtg846r | 0:2af1e48a285d | 78 | } else { |
gtg846r | 0:2af1e48a285d | 79 | return UnexpectedReply; |
gtg846r | 0:2af1e48a285d | 80 | } |
gtg846r | 0:2af1e48a285d | 81 | } |
gtg846r | 0:2af1e48a285d | 82 | |
gtg846r | 0:2af1e48a285d | 83 | /** |
gtg846r | 0:2af1e48a285d | 84 | * Set image size. |
gtg846r | 0:2af1e48a285d | 85 | * |
gtg846r | 0:2af1e48a285d | 86 | * @param is Image size. |
gtg846r | 0:2af1e48a285d | 87 | * @return Error code. |
gtg846r | 0:2af1e48a285d | 88 | */ |
gtg846r | 0:2af1e48a285d | 89 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) { |
gtg846r | 0:2af1e48a285d | 90 | uint8_t send[9] = { |
gtg846r | 0:2af1e48a285d | 91 | 0x56, |
gtg846r | 0:2af1e48a285d | 92 | 0x00, |
gtg846r | 0:2af1e48a285d | 93 | 0x31, |
gtg846r | 0:2af1e48a285d | 94 | 0x05, |
gtg846r | 0:2af1e48a285d | 95 | 0x04, |
gtg846r | 0:2af1e48a285d | 96 | 0x01, |
gtg846r | 0:2af1e48a285d | 97 | 0x00, |
gtg846r | 0:2af1e48a285d | 98 | 0x19, |
gtg846r | 0:2af1e48a285d | 99 | 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120 |
gtg846r | 0:2af1e48a285d | 100 | }; |
gtg846r | 0:2af1e48a285d | 101 | uint8_t recv[5]; |
gtg846r | 0:2af1e48a285d | 102 | switch (is) { |
gtg846r | 0:2af1e48a285d | 103 | case ImageSize160x120: |
gtg846r | 0:2af1e48a285d | 104 | send[8] = 0x22; |
gtg846r | 0:2af1e48a285d | 105 | break; |
gtg846r | 0:2af1e48a285d | 106 | case ImageSize320x280: |
gtg846r | 0:2af1e48a285d | 107 | send[8] = 0x11; |
gtg846r | 0:2af1e48a285d | 108 | break; |
gtg846r | 0:2af1e48a285d | 109 | case ImageSize640x480: |
gtg846r | 0:2af1e48a285d | 110 | send[8] = 0x00; |
gtg846r | 0:2af1e48a285d | 111 | break; |
gtg846r | 0:2af1e48a285d | 112 | default: |
gtg846r | 0:2af1e48a285d | 113 | return InvalidArguments; |
gtg846r | 0:2af1e48a285d | 114 | } |
gtg846r | 0:2af1e48a285d | 115 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 116 | return SendError; |
gtg846r | 0:2af1e48a285d | 117 | } |
gtg846r | 0:2af1e48a285d | 118 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 119 | return RecvError; |
gtg846r | 0:2af1e48a285d | 120 | } |
gtg846r | 0:2af1e48a285d | 121 | if ((recv[0] == 0x76) |
gtg846r | 0:2af1e48a285d | 122 | && (recv[1] == 0x00) |
gtg846r | 0:2af1e48a285d | 123 | && (recv[2] == 0x31) |
gtg846r | 0:2af1e48a285d | 124 | && (recv[3] == 0x00) |
gtg846r | 0:2af1e48a285d | 125 | && (recv[4] == 0x00)) { |
gtg846r | 0:2af1e48a285d | 126 | wait(1); |
gtg846r | 0:2af1e48a285d | 127 | return reset(); |
gtg846r | 0:2af1e48a285d | 128 | } else { |
gtg846r | 0:2af1e48a285d | 129 | return UnexpectedReply; |
gtg846r | 0:2af1e48a285d | 130 | } |
gtg846r | 0:2af1e48a285d | 131 | } |
gtg846r | 0:2af1e48a285d | 132 | |
gtg846r | 0:2af1e48a285d | 133 | /** |
gtg846r | 0:2af1e48a285d | 134 | * Take picture. |
gtg846r | 0:2af1e48a285d | 135 | * |
gtg846r | 0:2af1e48a285d | 136 | * @return Error code. |
gtg846r | 0:2af1e48a285d | 137 | */ |
gtg846r | 0:2af1e48a285d | 138 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() { |
gtg846r | 0:2af1e48a285d | 139 | uint8_t send[5] = { |
gtg846r | 0:2af1e48a285d | 140 | 0x56, |
gtg846r | 0:2af1e48a285d | 141 | 0x00, |
gtg846r | 0:2af1e48a285d | 142 | 0x36, |
gtg846r | 0:2af1e48a285d | 143 | 0x01, |
gtg846r | 0:2af1e48a285d | 144 | 0x00 |
gtg846r | 0:2af1e48a285d | 145 | }; |
gtg846r | 0:2af1e48a285d | 146 | uint8_t recv[5]; |
gtg846r | 0:2af1e48a285d | 147 | |
gtg846r | 0:2af1e48a285d | 148 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 149 | return SendError; |
gtg846r | 0:2af1e48a285d | 150 | } |
gtg846r | 0:2af1e48a285d | 151 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 152 | return RecvError; |
gtg846r | 0:2af1e48a285d | 153 | } |
gtg846r | 0:2af1e48a285d | 154 | |
gtg846r | 0:2af1e48a285d | 155 | if ((recv[0] == 0x76) |
gtg846r | 0:2af1e48a285d | 156 | && (recv[1] == 0x00) |
gtg846r | 0:2af1e48a285d | 157 | && (recv[2] == 0x36) |
gtg846r | 0:2af1e48a285d | 158 | && (recv[3] == 0x00) |
gtg846r | 0:2af1e48a285d | 159 | && (recv[4] == 0x00)) { |
gtg846r | 0:2af1e48a285d | 160 | /* |
gtg846r | 0:2af1e48a285d | 161 | * I think the camera need a time for operating. |
gtg846r | 0:2af1e48a285d | 162 | * But there is no any comments on the documents. |
gtg846r | 0:2af1e48a285d | 163 | */ |
gtg846r | 0:2af1e48a285d | 164 | wait_ms(100); |
gtg846r | 0:2af1e48a285d | 165 | return NoError; |
gtg846r | 0:2af1e48a285d | 166 | } else { |
gtg846r | 0:2af1e48a285d | 167 | return UnexpectedReply; |
gtg846r | 0:2af1e48a285d | 168 | } |
gtg846r | 0:2af1e48a285d | 169 | } |
gtg846r | 0:2af1e48a285d | 170 | |
gtg846r | 0:2af1e48a285d | 171 | /** |
gtg846r | 0:2af1e48a285d | 172 | * Read jpeg file size. |
gtg846r | 0:2af1e48a285d | 173 | * |
gtg846r | 0:2af1e48a285d | 174 | * @param fileSize File size. |
gtg846r | 0:2af1e48a285d | 175 | * @return Error code. |
gtg846r | 0:2af1e48a285d | 176 | */ |
gtg846r | 0:2af1e48a285d | 177 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) { |
gtg846r | 0:2af1e48a285d | 178 | uint8_t send[5] = { |
gtg846r | 0:2af1e48a285d | 179 | 0x56, |
gtg846r | 0:2af1e48a285d | 180 | 0x00, |
gtg846r | 0:2af1e48a285d | 181 | 0x34, |
gtg846r | 0:2af1e48a285d | 182 | 0x01, |
gtg846r | 0:2af1e48a285d | 183 | 0x00 |
gtg846r | 0:2af1e48a285d | 184 | }; |
gtg846r | 0:2af1e48a285d | 185 | uint8_t recv[9]; |
gtg846r | 0:2af1e48a285d | 186 | |
gtg846r | 0:2af1e48a285d | 187 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 188 | return SendError; |
gtg846r | 0:2af1e48a285d | 189 | } |
gtg846r | 0:2af1e48a285d | 190 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 191 | return RecvError; |
gtg846r | 0:2af1e48a285d | 192 | } |
gtg846r | 0:2af1e48a285d | 193 | |
gtg846r | 0:2af1e48a285d | 194 | if ((recv[0] == 0x76) |
gtg846r | 0:2af1e48a285d | 195 | && (recv[1] == 0x00) |
gtg846r | 0:2af1e48a285d | 196 | && (recv[2] == 0x34) |
gtg846r | 0:2af1e48a285d | 197 | && (recv[3] == 0x00) |
gtg846r | 0:2af1e48a285d | 198 | && (recv[4] == 0x04) |
gtg846r | 0:2af1e48a285d | 199 | && (recv[5] == 0x00) |
gtg846r | 0:2af1e48a285d | 200 | && (recv[6] == 0x00)) { |
gtg846r | 0:2af1e48a285d | 201 | *fileSize = ((recv[7] & 0x00ff) << 8) |
gtg846r | 0:2af1e48a285d | 202 | | ((recv[8] & 0x00ff) << 0); |
gtg846r | 0:2af1e48a285d | 203 | return NoError; |
gtg846r | 0:2af1e48a285d | 204 | } else { |
gtg846r | 0:2af1e48a285d | 205 | return UnexpectedReply; |
gtg846r | 0:2af1e48a285d | 206 | } |
gtg846r | 0:2af1e48a285d | 207 | } |
gtg846r | 0:2af1e48a285d | 208 | |
gtg846r | 0:2af1e48a285d | 209 | /** |
gtg846r | 0:2af1e48a285d | 210 | * Read jpeg file content. |
gtg846r | 0:2af1e48a285d | 211 | * |
gtg846r | 0:2af1e48a285d | 212 | * @param func A pointer to a call back function. |
gtg846r | 0:2af1e48a285d | 213 | * @return Error code. |
gtg846r | 0:2af1e48a285d | 214 | */ |
gtg846r | 0:2af1e48a285d | 215 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) { |
gtg846r | 0:2af1e48a285d | 216 | uint8_t send[16] = { |
gtg846r | 0:2af1e48a285d | 217 | 0x56, |
gtg846r | 0:2af1e48a285d | 218 | 0x00, |
gtg846r | 0:2af1e48a285d | 219 | 0x32, |
gtg846r | 0:2af1e48a285d | 220 | 0x0C, |
gtg846r | 0:2af1e48a285d | 221 | 0x00, |
gtg846r | 0:2af1e48a285d | 222 | 0x0A, |
gtg846r | 0:2af1e48a285d | 223 | 0x00, |
gtg846r | 0:2af1e48a285d | 224 | 0x00, |
gtg846r | 0:2af1e48a285d | 225 | 0x00, // MH |
gtg846r | 0:2af1e48a285d | 226 | 0x00, // ML |
gtg846r | 0:2af1e48a285d | 227 | 0x00, |
gtg846r | 0:2af1e48a285d | 228 | 0x00, |
gtg846r | 0:2af1e48a285d | 229 | 0x00, // KH |
gtg846r | 0:2af1e48a285d | 230 | 0x00, // KL |
gtg846r | 0:2af1e48a285d | 231 | 0x00, // XX |
gtg846r | 0:2af1e48a285d | 232 | 0x00 // XX |
gtg846r | 0:2af1e48a285d | 233 | }; |
gtg846r | 0:2af1e48a285d | 234 | uint8_t body[32]; |
gtg846r | 0:2af1e48a285d | 235 | uint16_t m = 0; // Staring address. |
gtg846r | 0:2af1e48a285d | 236 | uint16_t k = sizeof(body); // Packet size. |
gtg846r | 0:2af1e48a285d | 237 | uint16_t x = 10; // Interval time. XX XX * 0.01m[sec] |
gtg846r | 0:2af1e48a285d | 238 | bool end = false; |
gtg846r | 0:2af1e48a285d | 239 | |
gtg846r | 0:2af1e48a285d | 240 | /* |
gtg846r | 0:2af1e48a285d | 241 | * Get the data size. |
gtg846r | 0:2af1e48a285d | 242 | */ |
gtg846r | 0:2af1e48a285d | 243 | int siz_done = 0; |
gtg846r | 0:2af1e48a285d | 244 | int siz_total = 0; |
gtg846r | 0:2af1e48a285d | 245 | ErrorCode r = readJpegFileSize(&siz_total); |
gtg846r | 0:2af1e48a285d | 246 | if (r != NoError) { |
gtg846r | 0:2af1e48a285d | 247 | return r; |
gtg846r | 0:2af1e48a285d | 248 | } |
gtg846r | 0:2af1e48a285d | 249 | |
gtg846r | 0:2af1e48a285d | 250 | do { |
gtg846r | 0:2af1e48a285d | 251 | send[8] = (m >> 8) & 0xff; |
gtg846r | 0:2af1e48a285d | 252 | send[9] = (m >> 0) & 0xff; |
gtg846r | 0:2af1e48a285d | 253 | send[12] = (k >> 8) & 0xff; |
gtg846r | 0:2af1e48a285d | 254 | send[13] = (k >> 0) & 0xff; |
gtg846r | 0:2af1e48a285d | 255 | send[14] = (x >> 8) & 0xff; |
gtg846r | 0:2af1e48a285d | 256 | send[15] = (x >> 0) & 0xff; |
gtg846r | 0:2af1e48a285d | 257 | /* |
gtg846r | 0:2af1e48a285d | 258 | * Send a command. |
gtg846r | 0:2af1e48a285d | 259 | */ |
gtg846r | 0:2af1e48a285d | 260 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 261 | return SendError; |
gtg846r | 0:2af1e48a285d | 262 | } |
gtg846r | 0:2af1e48a285d | 263 | /* |
gtg846r | 0:2af1e48a285d | 264 | * Read the header of the response. |
gtg846r | 0:2af1e48a285d | 265 | */ |
gtg846r | 0:2af1e48a285d | 266 | uint8_t header[5]; |
gtg846r | 0:2af1e48a285d | 267 | if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) { |
gtg846r | 0:2af1e48a285d | 268 | return RecvError; |
gtg846r | 0:2af1e48a285d | 269 | } |
gtg846r | 0:2af1e48a285d | 270 | /* |
gtg846r | 0:2af1e48a285d | 271 | * Check the response and fetch an image data. |
gtg846r | 0:2af1e48a285d | 272 | */ |
gtg846r | 0:2af1e48a285d | 273 | if ((header[0] == 0x76) |
gtg846r | 0:2af1e48a285d | 274 | && (header[1] == 0x00) |
gtg846r | 0:2af1e48a285d | 275 | && (header[2] == 0x32) |
gtg846r | 0:2af1e48a285d | 276 | && (header[3] == 0x00) |
gtg846r | 0:2af1e48a285d | 277 | && (header[4] == 0x00)) |
gtg846r | 0:2af1e48a285d | 278 | { |
gtg846r | 0:2af1e48a285d | 279 | if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) |
gtg846r | 0:2af1e48a285d | 280 | { |
gtg846r | 0:2af1e48a285d | 281 | return RecvError; |
gtg846r | 0:2af1e48a285d | 282 | } |
gtg846r | 0:2af1e48a285d | 283 | siz_done += sizeof(body); |
gtg846r | 0:2af1e48a285d | 284 | if (func != NULL) |
gtg846r | 0:2af1e48a285d | 285 | { |
gtg846r | 0:2af1e48a285d | 286 | if (siz_done > siz_total) |
gtg846r | 0:2af1e48a285d | 287 | { |
gtg846r | 0:2af1e48a285d | 288 | siz_done = siz_total; |
gtg846r | 0:2af1e48a285d | 289 | } |
gtg846r | 0:2af1e48a285d | 290 | func(siz_done, siz_total, body, sizeof(body)); |
gtg846r | 0:2af1e48a285d | 291 | } |
gtg846r | 0:2af1e48a285d | 292 | for (int i = 1; i < sizeof(body); i++) |
gtg846r | 0:2af1e48a285d | 293 | { |
gtg846r | 0:2af1e48a285d | 294 | if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) |
gtg846r | 0:2af1e48a285d | 295 | { |
gtg846r | 0:2af1e48a285d | 296 | end = true; |
gtg846r | 0:2af1e48a285d | 297 | } |
gtg846r | 0:2af1e48a285d | 298 | } |
gtg846r | 0:2af1e48a285d | 299 | } |
gtg846r | 0:2af1e48a285d | 300 | else |
gtg846r | 0:2af1e48a285d | 301 | { |
gtg846r | 0:2af1e48a285d | 302 | return UnexpectedReply; |
gtg846r | 0:2af1e48a285d | 303 | } |
gtg846r | 0:2af1e48a285d | 304 | /* |
gtg846r | 0:2af1e48a285d | 305 | * Read the footer of the response. |
gtg846r | 0:2af1e48a285d | 306 | */ |
gtg846r | 0:2af1e48a285d | 307 | uint8_t footer[5]; |
gtg846r | 0:2af1e48a285d | 308 | if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) |
gtg846r | 0:2af1e48a285d | 309 | { |
gtg846r | 0:2af1e48a285d | 310 | return RecvError; |
gtg846r | 0:2af1e48a285d | 311 | } |
gtg846r | 0:2af1e48a285d | 312 | |
gtg846r | 0:2af1e48a285d | 313 | m += sizeof(body); |
gtg846r | 0:2af1e48a285d | 314 | } while (!end); |
gtg846r | 0:2af1e48a285d | 315 | return NoError; |
gtg846r | 0:2af1e48a285d | 316 | } |
gtg846r | 0:2af1e48a285d | 317 | |
gtg846r | 0:2af1e48a285d | 318 | /** |
gtg846r | 0:2af1e48a285d | 319 | * Stop taking pictures. |
gtg846r | 0:2af1e48a285d | 320 | * |
gtg846r | 0:2af1e48a285d | 321 | * @return Error code. |
gtg846r | 0:2af1e48a285d | 322 | */ |
gtg846r | 0:2af1e48a285d | 323 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() { |
gtg846r | 0:2af1e48a285d | 324 | uint8_t send[5] = { |
gtg846r | 0:2af1e48a285d | 325 | 0x56, |
gtg846r | 0:2af1e48a285d | 326 | 0x00, |
gtg846r | 0:2af1e48a285d | 327 | 0x36, |
gtg846r | 0:2af1e48a285d | 328 | 0x01, |
gtg846r | 0:2af1e48a285d | 329 | 0x03 |
gtg846r | 0:2af1e48a285d | 330 | }; |
gtg846r | 0:2af1e48a285d | 331 | uint8_t recv[5]; |
gtg846r | 0:2af1e48a285d | 332 | |
gtg846r | 0:2af1e48a285d | 333 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 334 | return SendError; |
gtg846r | 0:2af1e48a285d | 335 | } |
gtg846r | 0:2af1e48a285d | 336 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
gtg846r | 0:2af1e48a285d | 337 | return RecvError; |
gtg846r | 0:2af1e48a285d | 338 | } |
gtg846r | 0:2af1e48a285d | 339 | |
gtg846r | 0:2af1e48a285d | 340 | if ((recv[0] == 0x76) |
gtg846r | 0:2af1e48a285d | 341 | && (recv[1] == 0x00) |
gtg846r | 0:2af1e48a285d | 342 | && (recv[2] == 0x36) |
gtg846r | 0:2af1e48a285d | 343 | && (recv[3] == 0x00) |
gtg846r | 0:2af1e48a285d | 344 | && (recv[4] == 0x00)) { |
gtg846r | 0:2af1e48a285d | 345 | /* |
gtg846r | 0:2af1e48a285d | 346 | * I think the camera need a time for operating. |
gtg846r | 0:2af1e48a285d | 347 | * But there is no any comments on the documents. |
gtg846r | 0:2af1e48a285d | 348 | */ |
gtg846r | 0:2af1e48a285d | 349 | wait_ms(100); |
gtg846r | 0:2af1e48a285d | 350 | return NoError; |
gtg846r | 0:2af1e48a285d | 351 | } else { |
gtg846r | 0:2af1e48a285d | 352 | return UnexpectedReply; |
gtg846r | 0:2af1e48a285d | 353 | } |
gtg846r | 0:2af1e48a285d | 354 | } |
gtg846r | 0:2af1e48a285d | 355 | |
gtg846r | 0:2af1e48a285d | 356 | /** |
gtg846r | 0:2af1e48a285d | 357 | * Wait init end codes. |
gtg846r | 0:2af1e48a285d | 358 | * |
gtg846r | 0:2af1e48a285d | 359 | * @return True if the data sended. |
gtg846r | 0:2af1e48a285d | 360 | */ |
gtg846r | 0:2af1e48a285d | 361 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() { |
gtg846r | 0:2af1e48a285d | 362 | static const char *PWR_ON_MSG = "Init end\x0d\x0a"; |
gtg846r | 0:2af1e48a285d | 363 | for (int i = 0; i < strlen(PWR_ON_MSG); i++) { |
gtg846r | 0:2af1e48a285d | 364 | static const int MAXCNT = 128; |
gtg846r | 0:2af1e48a285d | 365 | int cnt = 0; |
gtg846r | 0:2af1e48a285d | 366 | uint8_t c = 0x00; |
gtg846r | 0:2af1e48a285d | 367 | do { |
gtg846r | 0:2af1e48a285d | 368 | if (!recvBytes(&c, sizeof(c), 500 * 1000)) { |
gtg846r | 0:2af1e48a285d | 369 | return Timeout; |
gtg846r | 0:2af1e48a285d | 370 | } |
gtg846r | 0:2af1e48a285d | 371 | |
gtg846r | 0:2af1e48a285d | 372 | /* |
gtg846r | 0:2af1e48a285d | 373 | * What is the version of the camera. |
gtg846r | 0:2af1e48a285d | 374 | * You can check the version with this code. |
gtg846r | 0:2af1e48a285d | 375 | * |
gtg846r | 0:2af1e48a285d | 376 | * VC0703 1.00 |
gtg846r | 0:2af1e48a285d | 377 | * 3o ctrl in |
gtg846r | 0:2af1e48a285d | 378 | * Init end |
gtg846r | 0:2af1e48a285d | 379 | */ |
gtg846r | 0:2af1e48a285d | 380 | #if 0 |
gtg846r | 0:2af1e48a285d | 381 | printf("%c", c); |
gtg846r | 0:2af1e48a285d | 382 | #endif |
gtg846r | 0:2af1e48a285d | 383 | |
gtg846r | 0:2af1e48a285d | 384 | cnt++; |
gtg846r | 0:2af1e48a285d | 385 | if (MAXCNT < cnt) { |
gtg846r | 0:2af1e48a285d | 386 | return UnexpectedReply; |
gtg846r | 0:2af1e48a285d | 387 | } |
gtg846r | 0:2af1e48a285d | 388 | } while (c != PWR_ON_MSG[i]); |
gtg846r | 0:2af1e48a285d | 389 | } |
gtg846r | 0:2af1e48a285d | 390 | return NoError; |
gtg846r | 0:2af1e48a285d | 391 | } |
gtg846r | 0:2af1e48a285d | 392 | |
gtg846r | 0:2af1e48a285d | 393 | /** |
gtg846r | 0:2af1e48a285d | 394 | * Send bytes to camera module. |
gtg846r | 0:2af1e48a285d | 395 | * |
gtg846r | 0:2af1e48a285d | 396 | * @param buf Pointer to the data buffer. |
gtg846r | 0:2af1e48a285d | 397 | * @param len Length of the data buffer. |
gtg846r | 0:2af1e48a285d | 398 | * |
gtg846r | 0:2af1e48a285d | 399 | * @return True if the data sended. |
gtg846r | 0:2af1e48a285d | 400 | */ |
gtg846r | 0:2af1e48a285d | 401 | bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) { |
gtg846r | 0:2af1e48a285d | 402 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
gtg846r | 0:2af1e48a285d | 403 | int cnt = 0; |
gtg846r | 0:2af1e48a285d | 404 | while (!serial.writeable()) |
gtg846r | 0:2af1e48a285d | 405 | { |
gtg846r | 0:2af1e48a285d | 406 | wait_us(1); |
gtg846r | 0:2af1e48a285d | 407 | cnt++; |
gtg846r | 0:2af1e48a285d | 408 | if (timeout_us < cnt) |
gtg846r | 0:2af1e48a285d | 409 | { |
gtg846r | 0:2af1e48a285d | 410 | return false; |
gtg846r | 0:2af1e48a285d | 411 | } |
gtg846r | 0:2af1e48a285d | 412 | } |
gtg846r | 0:2af1e48a285d | 413 | serial.putc(buf[i]); |
gtg846r | 0:2af1e48a285d | 414 | } |
gtg846r | 0:2af1e48a285d | 415 | return true; |
gtg846r | 0:2af1e48a285d | 416 | } |
gtg846r | 0:2af1e48a285d | 417 | |
gtg846r | 0:2af1e48a285d | 418 | /** |
gtg846r | 0:2af1e48a285d | 419 | * Receive bytes from camera module. |
gtg846r | 0:2af1e48a285d | 420 | * |
gtg846r | 0:2af1e48a285d | 421 | * @param buf Pointer to the data buffer. |
gtg846r | 0:2af1e48a285d | 422 | * @param len Length of the data buffer. |
gtg846r | 0:2af1e48a285d | 423 | * |
gtg846r | 0:2af1e48a285d | 424 | * @return True if the data received. |
gtg846r | 0:2af1e48a285d | 425 | */ |
gtg846r | 0:2af1e48a285d | 426 | bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) { |
gtg846r | 0:2af1e48a285d | 427 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
gtg846r | 0:2af1e48a285d | 428 | int cnt = 0; |
gtg846r | 0:2af1e48a285d | 429 | while (!serial.readable()) { |
gtg846r | 0:2af1e48a285d | 430 | wait_us(1); |
gtg846r | 0:2af1e48a285d | 431 | cnt++; |
gtg846r | 0:2af1e48a285d | 432 | if (timeout_us < cnt) { |
gtg846r | 0:2af1e48a285d | 433 | return false; |
gtg846r | 0:2af1e48a285d | 434 | } |
gtg846r | 0:2af1e48a285d | 435 | } |
gtg846r | 0:2af1e48a285d | 436 | buf[i] = serial.getc(); |
gtg846r | 0:2af1e48a285d | 437 | } |
gtg846r | 0:2af1e48a285d | 438 | return true; |
gtg846r | 0:2af1e48a285d | 439 | } |
gtg846r | 0:2af1e48a285d | 440 | |
gtg846r | 0:2af1e48a285d | 441 | /** |
gtg846r | 0:2af1e48a285d | 442 | * Wait received. |
gtg846r | 0:2af1e48a285d | 443 | * |
gtg846r | 0:2af1e48a285d | 444 | * @return True if the data received. |
gtg846r | 0:2af1e48a285d | 445 | */ |
gtg846r | 0:2af1e48a285d | 446 | bool Camera_LS_Y201::waitRecv() { |
gtg846r | 0:2af1e48a285d | 447 | while (!serial.readable()) { |
gtg846r | 0:2af1e48a285d | 448 | } |
gtg846r | 0:2af1e48a285d | 449 | return true; |
gtg846r | 0:2af1e48a285d | 450 | } |
gtg846r | 0:2af1e48a285d | 451 | |
gtg846r | 0:2af1e48a285d | 452 | /** |
gtg846r | 0:2af1e48a285d | 453 | * Wait idle state. |
gtg846r | 0:2af1e48a285d | 454 | */ |
gtg846r | 0:2af1e48a285d | 455 | bool Camera_LS_Y201::waitIdle() { |
gtg846r | 0:2af1e48a285d | 456 | while (serial.readable()) { |
gtg846r | 0:2af1e48a285d | 457 | serial.getc(); |
gtg846r | 0:2af1e48a285d | 458 | } |
gtg846r | 0:2af1e48a285d | 459 | return true; |
gtg846r | 0:2af1e48a285d | 460 | } |